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Environment-identification and proceeding work type real-man like robot

A humanoid robot and operation technology, which is applied in the field of humanoid robots, can solve problems such as disregarding the influence of the ground reaction force, difficulty in controlling the walking of humanoid robots, and inability of humanoid robots to fully possess basic human functions.

Inactive Publication Date: 2007-04-18
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The most important problem existing in the bipedal walking of the existing humanoid robot is that it does not consider the reaction force of contacting the ground, or only considers the influence of the tactile force of a few tactile points on the sole of the foot, so when the dynamic model of the walking ground is unknown It is difficult to control the humanoid robot to walk stably
[0006] To sum up, the existing humanoid robots cannot fully possess the basic functions of humans, and cannot completely replace humans to complete various complex operations in heavy, dangerous, harsh or general environments.

Method used

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  • Environment-identification and proceeding work type real-man like robot
  • Environment-identification and proceeding work type real-man like robot
  • Environment-identification and proceeding work type real-man like robot

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specific Embodiment approach

[0060] Figure 3 shows the two-eye coordinated movement control system. Its specific implementation is as follows:

[0061] 1) Further analyze the neural pathways and signal flow from the left and right horizontal semicircular canals to the left and right eyeballs, and find out the horizontal semicircular canal, vestibular nucleus, bridge tegmental nucleus, visual collar of the cerebral cortex, lateral geniculate body, visual prime nucleus, The signal circulation relationship between the externally turned nerve nucleus, the external straight tendon, and the internal straight tendon, and then the neural network model associated with the coordinated movement of the eyes;

[0062] 2) Through the analysis of the physical model of the coordinated movement of the two eyes, find out the relationship between the rotation angle of the visual axis of the two eyes, the position of the visual target and the error of the retina. Combined with the obtained neural pathways and signal flow re...

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Abstract

A man-shaped robot for recognizing environment and conducting job is composed of a system for coordinating rotary two eyes and controlling movement, a pair of 5-finger manipulators with tactile sense, a two-foot walking mechanism, and a man-machine interface platform based on computer network, relative mathematical models and control algorithm.

Description

technical field [0001] The invention relates to a robot, in particular to a humanoid robot capable of recognizing the environment and completing various complex operations instead of humans in heavy, dangerous, harsh or general environments. Background technique [0002] Existing humanoid robot vision mainly includes two types. The first category is disclosed by the paper "Research Status and Development Trend of Bionic Eyes" in the 2005 issue of "Robot" magazine. It is based on the "Pin-Hole" model. Its defect is that it must be completed very tediously before each operation. CCD camera correction, CCD camera motion control also needs to complete an extremely complex coordinate transformation between the visual space and the work space, and it is also impossible to effectively realize the coordinated movement of two CCD cameras and various visual functions and various vision-based systems. Jobs processed. The second category is also disclosed by the aforementioned magazin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J15/08B25J13/00
Inventor 肖南峰
Owner SOUTH CHINA UNIV OF TECH